Yes and no.
Yes, because there are so many galaxies with so many stars (like our Sun) with so many planets (like Earth) that it’s hard to imagine that our Earth is the only one populated. Or, to put it another way, it clearly wasn’t impossible for us to come about and so it clearly isn’t impossible for life to from somewhere else.
No, they haven’t visited Earth. They would certainly have made contact with us if they had – just think what we would do. Remeber, the distances are huge and what we know of physics tells us that space travel (real space travel, not Star Treck) to another galaxy would take an incredibly long time.
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